39 #ifndef SW_MIXING_TRIM_ROLL
40 #define SW_MIXING_TRIM_ROLL 0
45 #ifndef SW_MIXING_TRIM_PITCH
46 #define SW_MIXING_TRIM_PITCH 0
51 #ifndef SW_MIXING_TRIM_COLL
52 #define SW_MIXING_TRIM_COLL 0
65 for (i = 0; i <
SW_NB; i++) {
84 for (i = 0; i <
SW_NB; i++) {
88 coll_coef[i] * in_cmd[COMMAND_COLLECTIVE];
PRINT_CONFIG_VAR(ONELOOP_ANDI_FILT_CUTOFF)
#define SW_MIXING_TRIM_PITCH
static const float pitch_coef[SW_NB]
void swashplate_mixing_run(pprz_t in_cmd[])
struct swashplate_mixing_t swashplate_mixing
void swashplate_mixing_init()
Initialize the motor mixing and calculate the trim values.
#define SW_MIXING_TRIM_ROLL
static const float roll_coef[SW_NB]
#define SW_MIXING_TRIM_COLL
static const float coll_coef[SW_NB]
#define SW_MIXING_PITCH_COEF
#define SW_MIXING_ROLL_COEF
#define SW_MIXING_COLL_COEF
int32_t commands[SW_NB]
The output commands.
#define SW_NB
MECH (front/right/coll), H120 (front/rightback/leftback), HR120 (back/leftfront/rightfront)
int32_t trim[SW_NB]
Trim values for the different actuators.
unsigned char uint8_t
Typedef defining 8 bit unsigned char type.